//subscriber imu specifcation data package
#include <ros/ros.h>
#include <iostream>
#include <sensor_msgs/Imu.h>


int main(int argc, char **argv)
{
	ros::init(argc,argv,"sub_spec");
	ros::NodeHandle n;

    bool if_filted;
    n.param<bool>("/if_filted",if_filted, false );

    if (if_filted) {
        execlp("rostopic", "rostopic", "echo", "/imu/data",NULL);
    } else{
        // 执行命令 rostopic echo /IMU_data 以查看/IMU_data发布的信息
        execlp("rostopic", "rostopic", "echo", "/IMU_data", NULL);
    }




    ros::spin();
}
